/*
 * RotateBehavior.hh
 *
 */

#ifndef ROTATEBEHAVIOR_HH_
#define ROTATEBEHAVIOR_HH_

#include <iostream>
#include "Behavior.hh"
#include "BehaviorSafe.hh"
#include "ConfigFile.h"
#include "line.h"
#include "la2d.h"
#include <list>
#include <string>

class RotateBehavior: public BehaviorSafe {
public:
	RotateBehavior(const sense::State&, const sense::Environment&, sense::Command&, std::string);

	void setMode(int m){
	  mode=m;
	}
	void setFarthestPointDistance (double p) {
	  farthestPoint = p;
	}
protected:
  
  	double rot_vel_num;
        double rot_vel_via;
	double farthestPoint;
	void actSafe();
	int mode;
};

#endif /* ROTATEBEHAVIOR_HH_ */
